阅读说明：本技术 一种基于超声波技术的梭式矿车定位监测系统 (Shuttle mine car positioning monitoring system based on ultrasonic technology ) 是由 商亮 宋照岭 孟祥秋 于 2021-11-11 设计创作，主要内容包括：本发明涉及一种基于超声波技术的梭式矿车定位监测系统,通过使用近端超声波发射模块和远端超声波发射模块发出两组超声波,根据外界情况不同进行精确定位,且滤波模块避免了相互间的干扰,在梭式矿车行驶在直线巷道时,主要通过近端超声波发射模块发出的超声波,被轨道阻挡反射回的超声波信号强,通过定位轨道确定梭式矿车的位置,在梭式矿车行驶在曲线巷道时,近端超声波发射模块发出的超声波难以对曲线巷道准确定位,远端超声波发射模块发出的超声波射向辅助折射模块后,反射回的超声波信号强度提高,有助于准确定位,校正模块测出了此时巷道内的风速和温度数据,通过对数据进行处理整合,去除环境因素造成的误差,提高了梭式矿车的定位精度。(The invention relates to a shuttle car positioning and monitoring system based on ultrasonic technology, which uses a near-end ultrasonic emission module and a far-end ultrasonic emission module to emit two groups of ultrasonic waves to carry out accurate positioning according to different external conditions, and a filter module avoids mutual interference, when a shuttle car runs in a straight roadway, the ultrasonic signals reflected back by the blockage of a track are strong mainly through the ultrasonic waves emitted by the near-end ultrasonic emission module, the position of the shuttle car is determined through a positioning track, when the shuttle car runs in a curve roadway, the ultrasonic waves emitted by the near-end ultrasonic emission module are difficult to accurately position the curve roadway, the ultrasonic signals emitted by the far-end ultrasonic emission module are increased in intensity after the ultrasonic waves emitted by the far-end ultrasonic emission module irradiate an auxiliary refraction module, the accurate positioning is facilitated, the wind speed and temperature data in the roadway at the moment are measured by a correction module, through processing and integrating the data, errors caused by environmental factors are removed, and the positioning precision of the shuttle type mine car is improved.)

1. The utility model provides a shuttle mine car positioning monitoring system based on ultrasonic wave technique which characterized in that: the system comprises a data acquisition point arranged on the shuttle mine car and a curve positioning monitoring point arranged at a curve roadway; the data acquisition points comprise mine car data acquisition points, a central processing module and carriage data acquisition points, the mine car data acquisition points are arranged in the head of the shuttle mine car, the carriage data acquisition points are arranged in the carriage of the shuttle mine car, and the central processing module is used for processing the acquired data;

wherein, mine car data acquisition point includes:

the near-end ultrasonic transmitting module: the ultrasonic wave is emitted towards the inclined lower part of the rail, and the ultrasonic wave signal reflected by the metal rail is strong, so that the accurate positioning is facilitated, and meanwhile, the obstacles on the rail can be found in time;

the far-end ultrasonic transmitting module: the ultrasonic wave is emitted towards the horizontal direction, whether workers exist in a roadway can be detected, and the emission collision accident is avoided;

a filtering module: the ultrasonic wave filtering device is used for effectively filtering clutter in a received ultrasonic signal and reducing interference between two groups of ultrasonic waves;

an ultrasonic receiving module: the ultrasonic wave signal is used for receiving the ultrasonic wave signal reflected by the blocking medium;

the vehicle speed measuring module: the system is used for measuring the running speed of the shuttle car on the track in real time;

a correction information receiving module: the system is used for receiving correction information sent by a curve positioning monitoring point;

wherein the central processing module comprises:

a data processing unit: the data processing and integrating device is used for processing and integrating the acquired data;

a data storage unit: the integrated data acquisition device is used for acquiring data and integrating the data;

a data display unit: for displaying the position data of the shuttle car and the monitoring data in the car.

2. A shuttle car positioning and monitoring system based on ultrasonic technology according to claim 1, wherein: the frequency of the ultrasonic waves emitted by the near-end ultrasonic emission module is different from that of the ultrasonic waves emitted by the far-end ultrasonic emission module, and an angle exists between the two groups of emitted ultrasonic waves, so that the influence between the two groups of ultrasonic waves is reduced.

3. A shuttle car positioning and monitoring system based on ultrasonic technology according to claim 1, wherein: the car data acquisition point comprises:

slag measurement module: the device is used for measuring the stacking height of slag in a carriage during slag charging;

a rotating speed control module: the system is used for adjusting the running speed of the scraper conveyor in real time;

a data receiving module: the central processing module is used for receiving data integrated by the central processing module;

a preprocessing module: the system is used for predicting the inclination angle of the shuttle-type mine car at the next moment when the shuttle-type mine car passes through a curve, and supporting the scraper conveyor in advance;

the auxiliary supporting module: the scraper conveyor is used for supporting the scraper conveyor, so that the scraper is prevented from being seriously bent and deformed in the slag loading and conveying processes;

the slag measuring module can calculate the variable quantity of the slag loading speed synchronously when measuring the stacking height of the slag in the carriage, and the rotating speed control module synchronously adjusts the rotating speed of the scraper conveyor according to the slag loading speed, so that the slag is uniformly stacked, and all parts of the scraper conveyor are stressed identically.

4. A shuttle car positioning and monitoring system based on ultrasonic technology according to claim 3, wherein: the auxiliary support module includes:

horizontal supporting unit: the slag loading end of the scraper conveyor is supported when the slag is loaded;

a vertical supporting unit: the support device is used for supporting two sides of the scraper conveyor when the shuttle car passes through a curve;

the horizontal support unit sets up the below at scraper conveyor dress sediment end, the horizontal support unit is used for reducing scraper conveyor's deformation degree when slay striking scraper conveyor, the perpendicular support unit sets up the both sides in scraper conveyor below for support scraper conveyor prevents scraper conveyor inclines to one side.

5. A shuttle car positioning and monitoring system based on ultrasonic technology according to claim 1, wherein: the bend location monitoring point includes:

the auxiliary refraction module: the ultrasonic wave bending device is used for improving the refraction degree of ultrasonic waves in a curve, and can improve the positioning accuracy by matching with a far-end ultrasonic wave transmitting module;

a correction module: the device is used for measuring factors which can affect ultrasonic measurement and correcting the positioning of the mine car;

track information database: for storing information data of the curve;

an information transmitting end: and the system is used for sending out data information collected by the curve positioning detection point.

6. A shuttle car positioning and monitoring system based on ultrasonic technology according to claim 5, wherein: the track information database includes:

a turnout angle database: the track turnout information storage device is used for storing turnout information of a track;

curve radius database: the system is used for storing the bending degree information of the track;

curve arc length database: the device is used for storing the length information of the curved track;

mitigation curves database: and the method is used for storing the relaxation curve information of the gradual change of the curvature.

7. A shuttle car positioning and monitoring system based on ultrasonic technology according to claim 5, wherein: the correction module includes:

a wind power measuring unit: the system is used for measuring wind speed data at a curve in real time;

a temperature measuring unit: the device is used for measuring temperature data at a curve in real time;

a person detection unit: the device is used for detecting whether a worker approaches the rail where the shuttle car drives.

8. A shuttle car positioning and monitoring system based on ultrasonic technology according to claim 3, wherein: the use method of the pretreatment module is as follows:

1) receiving data information of a curve track before the tramcar passes a bend; 2) the near-end ultrasonic transmitting module and the far-end ultrasonic transmitting module are used for respectively transmitting ultrasonic waves with different frequencies, so that the position of the mine car in a curve can be determined, the correction information received by the correction information receiving module is used for real-time adjustment, and the mine car is positioned more accurately; 3) measuring the speed of the mine car in the running process in real time, and sending the running speed information of the mine car when the mine car is bent; 4) the preprocessing module can predict the inclination angle of the mine car at the next moment through the received curve track data, mine car position data and mine car running speed data, and deformation damage of the scraper conveyor can be reduced by adjusting the auxiliary supporting module in advance.

Technical Field

The invention relates to the technical field of ultrasonic positioning monitoring, in particular to a shuttle-type mine car positioning monitoring system based on an ultrasonic technology.

Background

A shuttle-type mine car for removing dregs and loading ore in tunnel, well lane, mining and mining is composed of a trough-shaped carriage and a running part, and features that a scraper or chain plate conveyer is installed to the bottom plate of carriage for loading the dregs from loading end of carriage and automatically transferring them to unloading end.

When the shuttle mine car runs to a curve roadway, if the coal content at the position is high, the information reflected by the ultrasonic waves is weak, signals are difficult to acquire, and in addition, due to the strong directivity of ultrasonic wave transmission, the track information in the other direction is difficult to accurately measure, so that accidents are easy to happen; when the mine car turns, slag loaded in the shuttle mine car inclines inwards due to centripetal force, so that the left side and the right side of the scraper conveyor are unbalanced in stress, chain plates are deformed and worn, and the service life and the service efficiency of the shuttle mine car are influenced; in addition, during slag loading, slag is poured from one end, the end is subjected to large impact force, so that the wear of the end is quicker, and after the chain plate conveyor in the shuttle car is used for a long time, due to the fact that the slag is stacked unevenly, the wear conditions of all parts of the chain plate conveyor are different, and the chain plate conveyor is prone to breaking.

Disclosure of Invention

The invention mainly aims to provide a shuttle-type mine car positioning and monitoring system based on an ultrasonic technology, which uses a near-end ultrasonic transmitting module and a far-end ultrasonic transmitting module to send two groups of ultrasonic waves, carries out accurate positioning according to different external conditions, and a filtering module avoids mutual interference; the collected curve track data, the mine car position data and the mine car running speed data are integrated through the data processing unit and then transmitted to the preprocessing module, the inclination angle of the shuttle mine car on the curve at the next moment can be predicted, the vertical supporting unit in the auxiliary supporting module is adjusted in real time according to the predicted inclination angle, the supporting force of the vertical supporting unit on one side of the inclination is increased/reduced in time when the scraper conveyor inclines, the damage of the scraper conveyor caused by deformation is reduced, and the problem in the background technology can be effectively solved.

In order to achieve the purpose, the invention adopts the technical scheme that: a shuttle car positioning monitoring system based on ultrasonic technology comprises data acquisition points arranged on the shuttle car and curve positioning monitoring points arranged at a curve roadway; the data acquisition points comprise mine car data acquisition points, a central processing module and carriage data acquisition points, the mine car data acquisition points are arranged in the head of the shuttle mine car, the carriage data acquisition points are arranged in the carriage of the shuttle mine car, and the central processing module is used for processing the acquired data.

Wherein, mine car data acquisition point includes: the near-end ultrasonic transmitting module: the ultrasonic wave transmitting device is used for transmitting ultrasonic waves towards the inclined lower side to be aligned with the rail, ultrasonic signals reflected by the metal rail are strong, accurate positioning is facilitated, and meanwhile obstacles such as stones and the like can be found out on the rail in time.

The far-end ultrasonic transmitting module: the ultrasonic wave is emitted towards the horizontal direction, whether workers exist in a roadway can be detected, and the emission collision accident is avoided.

A filtering module: the ultrasonic wave filter is used for effectively filtering clutter in a received ultrasonic wave signal and reducing interference between two groups of ultrasonic waves.

An ultrasonic receiving module: for receiving the ultrasonic signal reflected back by the blocking medium.

The vehicle speed measuring module: the device is used for measuring the running speed of the shuttle car on the track in real time.

A correction information receiving module: the device is used for receiving correction information sent by a curve positioning monitoring point.

Wherein the central processing module comprises: a data processing unit: the data processing and integrating device is used for processing and integrating the acquired data; a data storage unit: the integrated data acquisition device is used for acquiring data and integrating the data; a data display unit: for displaying the position data of the shuttle car and the monitoring data in the car.

The invention has the further improvement that the frequency of the ultrasonic wave emitted by the near-end ultrasonic emission module is different from that of the ultrasonic wave emitted by the far-end ultrasonic emission module, and an angle exists between the two groups of the ultrasonic waves to reduce the influence between the two groups of the ultrasonic waves.

In a further development of the invention, the car data collection point comprises: slag measurement module: the device is used for measuring the stacking height of slag in a carriage during slag charging; a rotating speed control module: the system is used for adjusting the running speed of the scraper conveyor in real time; a data receiving module: used for receiving the data integrated by the central processing module.

A preprocessing module: the method is used for predicting the inclination angle of the shuttle-type mine car at the next moment when the shuttle-type mine car passes through a curve, and supporting the scraper conveyor in advance.

The auxiliary supporting module: the scraper conveyor support device is used for supporting the scraper conveyor and avoiding serious bending deformation of the scraper in the slag loading and transporting process.

The slag measuring module can synchronously calculate the change of the slag loading speed when measuring the stacking height of the slag in the carriage, and the rotating speed control module synchronously adjusts the rotating speed of the scraper conveyor according to the slag loading speed, so that the slag is uniformly stacked, and all parts of the scraper conveyor are stressed identically.

A further development of the invention is that the auxiliary support module comprises: horizontal supporting unit: the slag loading end of the scraper conveyor is supported when the slag is loaded; a vertical supporting unit: the support device is used for supporting two sides of the scraper conveyor when the shuttle car passes through a curve; the horizontal support unit is arranged below the slag loading end of the scraper conveyor and used for reducing the deformation degree of the scraper conveyor when slag collides with the scraper conveyor, and the vertical support units are arranged on two sides below the scraper conveyor and used for supporting the scraper conveyor and preventing the scraper conveyor from inclining towards one side.

The invention is further improved in that the curve positioning monitoring point comprises: the auxiliary refraction module: the ultrasonic wave bending device is used for improving the refraction degree of ultrasonic waves in a curve, and can improve the positioning accuracy by matching with a far-end ultrasonic wave transmitting module; a correction module: the device is used for measuring factors which can affect ultrasonic measurement and correcting the positioning of the mine car; track information database: for storing information data of the curve; an information transmitting end: and the system is used for sending out data information collected by the curve positioning detection point.

In a further development of the invention, the track information database comprises: a turnout angle database: the track turnout information storage device is used for storing turnout information of a track; curve radius database: the system is used for storing the bending degree information of the track; curve arc length database: the device is used for storing the length information of the curved track; mitigation curves database: and the method is used for storing the relaxation curve information of the gradual change of the curvature.

The structure can realize that: the specific data condition of the curved track can be known, and the real-time inclination angle of the mine car can be accurately predicted.

A further development of the invention is that the correction module comprises: a wind power measuring unit: the system is used for measuring wind speed data at a curve in real time; a temperature measuring unit: the device is used for measuring temperature data at a curve in real time; a person detection unit: the device is used for detecting whether a worker approaches the rail where the shuttle car drives.

The invention further improves that the preprocessing module is used as follows: 1) receiving data information of a curve track before the tramcar passes a bend; 2) the near-end ultrasonic transmitting module and the far-end ultrasonic transmitting module are used for respectively transmitting ultrasonic waves with different frequencies, so that the position of the mine car in a curve can be determined, and the correction information received by the correction information receiving module is used for real-time adjustment, so that the mine car is positioned more accurately; 3) measuring the speed of the mine car in the running process in real time, and sending the running speed information of the mine car when the mine car is bent; 4) the preprocessing module can predict the inclination angle of the mine car at the next moment through the received curve track data, mine car position data and mine car running speed data, and deformation damage of the scraper conveyor can be reduced by adjusting the auxiliary supporting module in advance.

The invention has the beneficial effects that:

1. the invention uses the near-end ultrasonic emission module and the far-end ultrasonic emission module to emit two groups of ultrasonic waves to carry out accurate positioning according to different external conditions, the filtering module avoids mutual interference, when the shuttle-type mine car runs in a straight roadway, the ultrasonic wave emitted by the near-end ultrasonic emission module is mainly used, the ultrasonic signal reflected back by the blocking of the track is strong, the position of the shuttle-type mine car is determined by the positioning track, when the shuttle-type mine car runs in a curve roadway, the ultrasonic wave emitted by the near-end ultrasonic emission module is difficult to accurately position the curve roadway due to strong directivity, at the moment, the ultrasonic wave emitted by the far-end ultrasonic emission module is emitted to the auxiliary refraction module, the intensity of the reflected ultrasonic signal is improved, the accurate positioning is facilitated, the wind speed and temperature data in the roadway at the moment are measured by the correction module, and the data are processed and integrated, errors caused by environmental factors are removed, and the positioning precision of the shuttle type mine car is improved;

2. the invention receives the data information of the curve track before the shuttle-type mine car passes through the curve, uses the ultrasonic waves with different frequencies emitted by the near-end and far-end ultrasonic emission modules to determine the position of the mine car at the curve, uses the correction information received by the correction information receiving module to carry out real-time adjustment, ensures that the mine car is positioned more accurately, measures the speed of the mine car in the running process in real time, sends the running speed information of the mine car passing through the curve, integrates the acquired curve track data, the mine car position data and the running speed data of the mine car through the data processing unit and transmits the data to the preprocessing module, can predict the inclination angle of the shuttle-type mine car on the curve at the next moment, adjusts the vertical supporting unit in the auxiliary supporting module in real time according to the predicted inclination angle, and increases the supporting force of the vertical supporting unit below the inclined side of the scraper conveyor in time, the damage of the scraper conveyor caused by deformation is reduced, if workers appear on the track suddenly, the personnel monitoring unit can find out in advance that the shuttle-type mine car responds in advance through the preprocessing module when the shuttle-type mine car is subjected to emergency braking, the scraper conveyor is supported and fixed, and the extrusion of the scraper conveyor caused by inertia is reduced;

3. when the shuttle-type mine car disclosed by the invention is used for loading slag, the slag loading speed can be changed, the change of the slag loading speed can be calculated by the slag measuring module when the stacking height of the slag in the carriage is measured, the rotating speed of the scraper conveyor is synchronously adjusted by the rotating speed control module according to the slag loading speed, so that the slag is horizontally stacked as much as possible, the uniform stacking of the slag is ensured, the stress of each part of the scraper conveyor is the same, the deformation of the scraper conveyor is prevented, the horizontal supporting unit is used for reducing the deformation degree of the scraper conveyor when the slag impacts the scraper conveyor, and the service life and the service efficiency of the shuttle-type mine car are improved.

Drawings

FIG. 1 is a schematic diagram of the overall system of a shuttle car positioning and monitoring system based on ultrasonic technology.

FIG. 2 is a schematic diagram of a track information database system of a shuttle car positioning and monitoring system based on ultrasonic technology.

FIG. 3 is a schematic diagram of a calibration module system of the ultrasonic technology-based shuttle car positioning and monitoring system of the present invention.

FIG. 4 is a schematic view of an auxiliary support module system of the ultrasonic technology-based shuttle car positioning monitoring system of the present invention.

FIG. 5 is a schematic diagram of the method of using the preprocessing module of the ultrasonic technology-based shuttle car positioning and monitoring system of the present invention.

Detailed Description

The present invention will be further described with reference to the following detailed description, wherein the drawings are for illustrative purposes only and are not intended to be limiting, wherein certain elements may be omitted, enlarged or reduced in size, and are not intended to represent the actual dimensions of the product, so as to better illustrate the detailed description of the invention.

FIGS. 1-5 schematically illustrate an overall system diagram, a track information database system diagram, an auxiliary support module system diagram, and a pre-processing module usage diagram of an ultrasonic technology based shuttle car positioning monitoring system of the present invention.

Detailed description of the preferred embodiment 1

In a first embodiment, the invention discloses a shuttle car positioning and monitoring system based on ultrasonic technology, which comprises data acquisition points arranged on the shuttle car and curve positioning and monitoring points arranged at a curve roadway; the data acquisition points comprise mine car data acquisition points, a central processing module and carriage data acquisition points, the mine car data acquisition points are arranged in the head of the shuttle mine car, the carriage data acquisition points are arranged in the carriage of the shuttle mine car, and the central processing module is used for processing the acquired data; wherein, mine car data acquisition point includes: the near-end ultrasonic transmitting module: the ultrasonic wave transmitting device is used for transmitting ultrasonic waves towards the inclined lower side to be aligned with the rail, ultrasonic signals reflected by the metal rail are strong, accurate positioning is facilitated, and meanwhile obstacles such as stones and the like can be found out on the rail in time.

The far-end ultrasonic transmitting module: the ultrasonic wave is emitted towards the horizontal direction, whether workers exist in a roadway can be detected, and the emission collision accident is avoided.

A filtering module: the ultrasonic wave filter is used for effectively filtering clutter in a received ultrasonic wave signal and reducing interference between two groups of ultrasonic waves.

An ultrasonic receiving module: for receiving the ultrasonic signal reflected back by the blocking medium.

The vehicle speed measuring module: the device is used for measuring the running speed of the shuttle car on the track in real time.

A correction information receiving module: the device is used for receiving correction information sent by a curve positioning monitoring point.

The central processing module includes: a data processing unit: the data processing and integrating device is used for processing and integrating the acquired data; a data storage unit: the integrated data acquisition device is used for acquiring data and integrating the data; a data display unit: for displaying the position data of the shuttle car and the monitoring data in the car.

The ultrasonic frequency that near-end ultrasonic emission module sent is different with the ultrasonic frequency that distal end ultrasonic emission module sent, and there is the angle each other in two sets of ultrasonic waves of launching to reduce the influence between two sets of ultrasonic waves, in order to reduce the influence between two sets of ultrasonic waves, the ultrasonic wave of near-end ultrasonic emission module transmission is difficult for carrying out the accurate positioning in bend department, distal end ultrasonic emission module can carry out the accurate positioning in bend department through mutually supporting with the module that sets up on the bend location monitoring point.

The bend location monitoring point includes: the auxiliary refraction module: the ultrasonic wave bending device is used for improving the refraction degree of ultrasonic waves in a curve, and can improve the positioning accuracy by matching with a far-end ultrasonic wave transmitting module; a correction module: the device is used for measuring factors which can affect ultrasonic measurement and correcting the positioning of the mine car; track information database: for storing information data of the curve; an information transmitting end: and the system is used for sending out data information collected by the curve positioning detection point.

As shown in fig. 3, the correction module includes: a wind power measuring unit: the system is used for measuring wind speed data at a curve in real time; a temperature measuring unit: the device is used for measuring temperature data at a curve in real time; a person detection unit: the device is used for detecting whether a worker approaches the rail where the shuttle car drives.

By adopting the technical scheme: the invention uses the near-end ultrasonic emission module and the far-end ultrasonic emission module to emit two groups of ultrasonic waves to carry out accurate positioning according to different external conditions, the filtering module avoids mutual interference, when the shuttle-type mine car runs in a straight roadway, the ultrasonic wave emitted by the near-end ultrasonic emission module is mainly used, the ultrasonic signal reflected back by the blocking of the track is strong, the position of the shuttle-type mine car is determined by the positioning track, when the shuttle-type mine car runs in a curve roadway, the ultrasonic wave emitted by the near-end ultrasonic emission module is difficult to accurately position the curve roadway due to strong directivity, at the moment, the ultrasonic wave emitted by the far-end ultrasonic emission module is emitted to the auxiliary refraction module, the intensity of the reflected ultrasonic signal is improved to facilitate accurate positioning, the correction module measures the wind speed and temperature data in the roadway at the moment, and processes and integrates the data, the error caused by environmental factors is removed, and the positioning precision of the shuttle type mine car is improved.

Specific example 2

In a second embodiment, the invention discloses a shuttle car positioning monitoring system based on ultrasonic technology, which comprises data acquisition points arranged on the shuttle car and curve positioning monitoring points arranged at a curve roadway; the data acquisition points comprise mine car data acquisition points, a central processing module and carriage data acquisition points, the mine car data acquisition points are arranged in the head of the shuttle mine car, the carriage data acquisition points are arranged in the carriage of the shuttle mine car, and the central processing module is used for processing the acquired data; wherein, mine car data acquisition point includes: the near-end ultrasonic transmitting module: the ultrasonic wave transmitting device is used for transmitting ultrasonic waves towards the inclined lower side to be aligned with the rail, ultrasonic signals reflected by the metal rail are strong, accurate positioning is facilitated, and meanwhile obstacles such as stones and the like can be found out on the rail in time.

The far-end ultrasonic transmitting module: the ultrasonic wave is emitted towards the horizontal direction, whether workers exist in a roadway can be detected, and the emission collision accident is avoided; a filtering module: the ultrasonic wave filtering device is used for effectively filtering clutter in a received ultrasonic signal and reducing interference between two groups of ultrasonic waves; an ultrasonic receiving module: the ultrasonic wave signal is used for receiving the ultrasonic wave signal reflected by the blocking medium; the vehicle speed measuring module: the system is used for measuring the running speed of the shuttle car on the track in real time; a correction information receiving module: the device is used for receiving correction information sent by a curve positioning monitoring point.

The central processing module includes: a data processing unit: the data processing and integrating device is used for processing and integrating the acquired data; a data storage unit: the integrated data acquisition device is used for acquiring data and integrating the data; a data display unit: for displaying the position data of the shuttle car and the monitoring data in the car.

The ultrasonic frequency that near-end ultrasonic emission module sent is different with the ultrasonic frequency that distal end ultrasonic emission module sent, and there is the angle each other in two sets of ultrasonic waves of launching to reduce the influence between two sets of ultrasonic waves, more specifically, the ultrasonic frequency that near-end ultrasonic emission module sent is great with the ultrasonic frequency difference that distal end ultrasonic emission module sent, and the effect is better, the ultrasonic wave of near-end ultrasonic emission module transmission is difficult for carrying out the accurate positioning in bend department, distal end ultrasonic emission module can carry out the accurate positioning in bend department through mutually supporting with the module that sets up on the bend location monitoring point.

The car data acquisition point comprises: slag measurement module: the device is used for measuring the stacking height of slag in a carriage during slag charging; a rotating speed control module: the system is used for adjusting the running speed of the scraper conveyor in real time; a data receiving module: the central processing module is used for receiving data integrated by the central processing module; a preprocessing module: the system is used for predicting the inclination angle of the shuttle-type mine car at the next moment when the shuttle-type mine car passes through a curve, and supporting the scraper conveyor in advance; the auxiliary supporting module: the scraper conveyor support device is used for supporting the scraper conveyor and avoiding serious bending deformation of the scraper in the slag loading and transporting process.

The slag measuring module can synchronously calculate the change of the slag loading speed when measuring the stacking height of the slag in the carriage, and the rotating speed control module synchronously adjusts the rotating speed of the scraper conveyor according to the slag loading speed, so that the slag is uniformly stacked, and all parts of the scraper conveyor are stressed identically.

As shown in fig. 4, the auxiliary support module includes: horizontal supporting unit: the slag loading end of the scraper conveyor is supported when the slag is loaded; a vertical supporting unit: the support device is used for supporting two sides of the scraper conveyor when the shuttle car passes through a curve; the horizontal support unit sets up and reduces scraper conveyor's deformation degree when the below of scraper conveyor dress sediment end is used for slay striking scraper conveyor, perpendicular support unit sets up the both sides in scraper conveyor below for support scraper conveyor prevents that scraper conveyor from to one side slope.

The bend location monitoring point includes: the auxiliary refraction module: the ultrasonic wave bending device is used for improving the refraction degree of ultrasonic waves in a curve, and can improve the positioning accuracy by matching with a far-end ultrasonic wave transmitting module; a correction module: the device is used for measuring factors which can affect ultrasonic measurement and correcting the positioning of the mine car; track information database: for storing information data of the curve; an information transmitting end: and the system is used for sending out data information collected by the curve positioning detection point.

As shown in fig. 2, the track information database includes: a turnout angle database: the track turnout information storage device is used for storing turnout information of a track; curve radius database: the system is used for storing the bending degree information of the track; curve arc length database: the device is used for storing the length information of the curved track; mitigation curves database: and the method is used for storing the relaxation curve information of the gradual change of the curvature.

As shown in fig. 3, the correction module includes: a wind power measuring unit: the system is used for measuring wind speed data at a curve in real time; a temperature measuring unit: the device is used for measuring temperature data at a curve in real time; a person detection unit: the device is used for detecting whether a worker approaches the rail where the shuttle car drives.

On a coal face, errors are mainly generated by the temperature of air, the depth of a mine in China is shallow, the difference between the ground temperature and the air humidity is large, and the equipment power of the face is not necessarily the same, so that the heat productivity of the equipment is not necessarily the same, and the propagation speeds of ultrasonic waves on the coal face are different due to the factors; and when the ultrasonic wave is transmitted in the air, a speed difference exists between the downwind direction and the upwind direction, so that the ultrasonic positioning is corrected by measuring the temperature and wind data at the bend, the accuracy of predicting the real-time inclination angle of the mine car by the preprocessing module is improved, and the auxiliary supporting module can more accurately support and fix the scraper conveyor.

As shown in fig. 5, the preprocessing module is used as follows: 1) receiving data information of a curve track before the tramcar passes a bend; 2) the near-end ultrasonic transmitting module and the far-end ultrasonic transmitting module are used for respectively transmitting ultrasonic waves with different frequencies, so that the position of the mine car in a curve can be determined, and the correction information received by the correction information receiving module is used for real-time adjustment, so that the mine car is positioned more accurately; 3) measuring the speed of the mine car in the running process in real time, and sending the running speed information of the mine car when the mine car is bent; 4) the preprocessing module can predict the inclination angle of the mine car at the next moment through the received curve track data, mine car position data and mine car running speed data, and deformation damage of the scraper conveyor can be reduced by adjusting the auxiliary supporting module in advance.

By adopting the technical scheme: the invention receives the data information of the curve track before the shuttle-type mine car passes through the curve, uses the ultrasonic waves with different frequencies emitted by the near-end and far-end ultrasonic emission modules to determine the position of the mine car at the curve, uses the received correction information to carry out real-time adjustment, enables the positioning of the mine car to be more accurate, measures the car speed in the running process of the mine car in real time, sends the running speed information of the mine car when passing through the curve, integrates the acquired curve track data, the mine car position data and the running speed data of the mine car through the data processing unit and transmits the integrated data to the preprocessing module, can predict the inclination angle of the shuttle-type mine car at the curve at the next moment, adjusts the vertical supporting unit in the auxiliary supporting module in real time according to the predicted inclination angle, timely provides a supporting force at one side below the scraper conveyor when the scraper conveyor inclines, and reduces the damage of the scraper conveyor caused by deformation, if the staff appears suddenly on the track, personnel monitoring unit can discover in advance, and when the shuttle mine car carries out emergency brake, it reacts in advance through the preprocessing module, supports fixedly to the scraper conveyor, reduces because inertia is to the extrusion that the scraper conveyor caused.

Specific example 3

In a third embodiment, the invention discloses a shuttle car positioning monitoring system based on ultrasonic technology, which comprises data acquisition points arranged on the shuttle car and curve positioning monitoring points arranged at a curve roadway; the data acquisition points comprise mine car data acquisition points, a central processing module and carriage data acquisition points, the mine car data acquisition points are arranged in the head of the shuttle mine car, the carriage data acquisition points are arranged in the carriage of the shuttle mine car, and the central processing module is used for processing the acquired data; wherein, mine car data acquisition point includes: the near-end ultrasonic transmitting module: the ultrasonic wave is emitted towards the inclined lower part of the rail, the ultrasonic wave signal reflected by the metal rail is strong, accurate positioning is facilitated, and meanwhile, obstacles such as stones and the like on the rail can be found in time; the far-end ultrasonic transmitting module: the ultrasonic wave is emitted towards the horizontal direction, whether workers exist in a roadway can be detected, and the emission collision accident is avoided; a filtering module: the ultrasonic wave filtering device is used for effectively filtering clutter in a received ultrasonic signal and reducing interference between two groups of ultrasonic waves; an ultrasonic receiving module: the ultrasonic wave signal is used for receiving the ultrasonic wave signal reflected by the blocking medium; the vehicle speed measuring module: the system is used for measuring the running speed of the shuttle car on the track in real time; a correction information receiving module: the device is used for receiving correction information sent by a curve positioning monitoring point.

The central processing module includes: a data processing unit: the data processing and integrating device is used for processing and integrating the acquired data; a data storage unit: the integrated data acquisition device is used for acquiring data and integrating the data; a data display unit: for displaying the position data of the shuttle car and the monitoring data in the car.

The car data acquisition point comprises: slag measurement module: the device is used for measuring the stacking height of slag in a carriage during slag charging; a rotating speed control module: the system is used for adjusting the running speed of the scraper conveyor in real time; a data receiving module: the central processing module is used for receiving data integrated by the central processing module; a preprocessing module: the system is used for predicting the inclination angle of the shuttle-type mine car at the next moment when the shuttle-type mine car passes through a curve, and supporting the scraper conveyor in advance; the auxiliary supporting module: the scraper conveyor support device is used for supporting the scraper conveyor and avoiding serious bending deformation of the scraper in the slag loading and transporting process.

The slag measuring module can synchronously calculate the change of the slag loading speed when measuring the stacking height of the slag in the carriage, and the rotating speed control module synchronously adjusts the rotating speed of the scraper conveyor according to the slag loading speed, so that the slag is uniformly stacked, and all parts of the scraper conveyor are stressed identically.

As shown in fig. 4, the auxiliary support module includes: horizontal supporting unit: the slag loading end of the scraper conveyor is supported when the slag is loaded; a vertical supporting unit: the support device is used for supporting two sides of the scraper conveyor when the shuttle car passes through a curve; the horizontal support unit sets up and reduces scraper conveyor's deformation degree when the below of scraper conveyor dress sediment end is used for slay striking scraper conveyor, perpendicular support unit sets up the both sides in scraper conveyor below for support scraper conveyor prevents that scraper conveyor from to one side slope.

By adopting the technical scheme: when the shuttle-type mine car is used for loading slag, the slag loading speed can be changed, the change of the slag loading speed can be calculated by the slag measuring module when the stacking height of the slag in a carriage is measured, the rotating speed of the scraper conveyor is synchronously adjusted by the rotating speed control module according to the slag loading speed, so that the slag can be horizontally stacked as much as possible, the uniform stacking of the slag is ensured, all parts of the scraper conveyor are stressed the same, the deformation of the scraper conveyor is prevented, the horizontal supporting unit is used for reducing the deformation degree of the scraper conveyor when the slag impacts the scraper conveyor, and the service life and the service efficiency of the shuttle-type mine car are improved.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.