CN104453991A - Intelligent mine inclined shaft system - Google Patents

The invention discloses an intelligent mine inclined shaft system. Inlet doors are arranged at the underground inlet position and the aboveground inlet position of an inclined shaft tramcar rail. A load bearing wagon balance and an infrared sensor are arranged at the inlet door of the underground inlet position. A plurality of safety doors are arranged in the rail. A winch is arranged at the inlet door of the aboveground inlet position. The winch drags a tramcar through a rope to run in the inclined shaft tramcar rail. The doors are each provided with an RFID card reader, a card reader, a laser pair-transistor sensor connecting wireless module, an aboveground buzzer, an LCD module, a touch screen module, a winch, a wireless module and a GSM base station connecting aboveground intelligent gateway. All the wireless modules are connected with a wireless module at a PC end. A PC is connected with a server through a signal line. The server is connected with an external network internet through a firewall. The intelligent mine inclined shaft system has the advantages that the inclined shaft conveying work is comprehensively monitored and safely managed, the derailing accident is prevented from happening to a mine inclined shaft, and the system safety is high.

一种智慧矿山斜井系统A smart mine inclined shaft system

技术领域technical field

本发明属于采矿技术领域，涉及一种智慧矿山斜井系统。The invention belongs to the technical field of mining, and relates to a smart mine inclined shaft system.

背景技术Background technique

近几年来，矿山斜井跑车事故时常发生，造成了相当严重的人员伤亡和经济损失。在斜井运输中,由于超载、失修、误操作等原因,发生提升车辆断绳、脱钩现象,使运行的车辆沿斜井轨道向下的加速运动,即所谓的斜井跑车。煤矿安全规程规定：在斜井串车提升井巷中,必须安设能够将运行中断绳、脱钩的车辆阻止住的跑车防护装置。现有的斜井跑车防护装置中有机械联锁原理的、PLC作为控制器的,电子电路作为控制器的,存在着寿命短、维修量大、算法不灵活、抗干扰能力差等缺陷。In recent years, sports car accidents in mine inclined shafts have occurred frequently, causing serious casualties and economic losses. In the inclined shaft transportation, due to overload, disrepair, misoperation and other reasons, the hoisting vehicle breaks and decouples, which makes the running vehicle accelerate downward along the inclined shaft track, which is the so-called inclined shaft sports car. Coal mine safety regulations stipulate: in the hoisting shaft of the inclined shaft stringing cars, a sports car protection device that can stop the running of the broken rope and the uncoupling of the vehicle must be installed. The existing protection devices for sports cars in inclined shafts have the principle of mechanical interlock, PLC as the controller, and electronic circuits as the controller, which have defects such as short life, large maintenance, inflexible algorithm, and poor anti-interference ability.

目前在我国的一些矿藏含量较大的地方，如江西省赣州市，大量存在的规模小、投入少、电气化和自动化程度低的小型矿井，这些矿井对于斜井安全防范还处于非常落后的阶段，发生斜井跑车的事故概率非常高，安全生产的防范设施亟待不断提高。At present, in some places with large mineral deposits in our country, such as Ganzhou City, Jiangxi Province, there are a large number of small mines with small scale, low investment, low electrification and automation. These mines are still in a very backward stage for the safety of inclined shafts. The accident probability of inclined shaft sports cars is very high, and the prevention facilities for safe production need to be continuously improved.

发明内容Contents of the invention

本发明的目的在于提供一种智慧矿山斜井系统，解决了现有的斜井系统不够安全，斜井运输作业发生斜井跑车的事故概率非常高的问题。The purpose of the present invention is to provide an intelligent mine inclined shaft system, which solves the problem that the existing inclined shaft system is not safe enough, and the accident probability of inclined shaft sports car is very high in the inclined shaft transportation operation.

本发明所采用的技术方案是包括斜井矿车轨道，斜井矿车轨道的井下入口处设有井下人行入口门和井下车行入口门，斜井矿车轨道的井上入口处设有井上人行入口门和井上车行入口门，井下车行入口门外设有载重地磅，在斜井矿车轨道内的井下车行入口门和井上车行入口门之间设有若干个安全门，井上车行入口门外设有卷扬机，卷扬机通过绳索牵拉矿车在斜井矿车轨道内运行，在斜井矿车轨道的井下人行入口门外设有红外传感器，在斜井矿车轨道内设有若干激光对管传感器，井下人行入口门、井下车行入口门，井上人行入口门、井上车行入口门和安全门上均设有RFID读卡器，井下人行入口门、井下人行入口门外的红外传感器、和井下人行入口门上的RFID读卡器通过电路连接井下段的Zigbee无线模块，井下车行入口门、井下车行入口门旁的安全门和井中段下部分的激光对管传感器通过电路连接井中段下部的Zigbee无线模块，井上车行入口门、井上车行入口门旁的安全门和井中段上部分的激光对管传感器通过电路连接井中段上部的Zigbee无线模块，井上人行入口门、井上人行入口门上的RFID读卡器、卷扬机、井上的Zigbee无线模块，蜂鸣器、LCD显示模块、触摸屏模块分别通过电路连接井上智能网关，井上智能网关通过电路连接GSM基站，GSM基站通过无线信号连接手机终端，井下段的Zigbee无线模块、井中段下部的Zigbee无线模块、井中段上部的Zigbee无线模块和井上的Zigbee无线模块通过无线信号连接PC端的Zigbee无线模块，PC端的Zigbee无线模块安装在PC机上，PC机通过信号线连接服务器，服务器通过防火墙连接外部的internet网络。The technical scheme adopted in the present invention comprises the inclined shaft mine car track, the underground entrance of the inclined shaft mine car track is provided with an underground pedestrian entrance door and an underground vehicle entrance door, and the above well entrance of the inclined shaft mine car track is provided with an overhead pedestrian entrance. The entrance door and the entrance door of the underground vehicle store. There is a load-bearing scale outside the entrance door of the underground vehicle store. There are several safety doors between the entrance door of the underground vehicle store and the entrance door of the well above the mine car in the inclined mine car track. There is a hoist outside the entrance door, and the hoist pulls the mine car through the rope to run in the inclined shaft mine car track. An infrared sensor is installed outside the underground pedestrian entrance door of the inclined shaft mine car track, and several Laser-to-tube sensor, RFID card readers are installed on the underground pedestrian entrance door, underground vehicle entrance door, underground pedestrian entrance door, underground vehicle entrance door and safety door, and infrared sensors outside the underground pedestrian entrance door and underground pedestrian entrance door , and the RFID card reader on the underground pedestrian entrance door are connected to the Zigbee wireless module in the underground section through a circuit, and the underground vehicle entrance door, the safety door next to the underground vehicle entrance door, and the laser-to-tube sensor at the lower part of the middle section of the well are connected to the well through a circuit. The Zigbee wireless module in the lower part of the well, the entrance door of the well, the safety door next to the entrance of the well, and the laser-to-tube sensor in the upper part of the middle of the well are connected to the Zigbee wireless module in the upper part of the well, the pedestrian entrance on the well, and the pedestrian entrance on the well. The RFID card reader on the door, the winch, the Zigbee wireless module of Inoue, the buzzer, the LCD display module, and the touch screen module are respectively connected to the Inoue intelligent gateway through the circuit, and the Inoue intelligent gateway is connected to the GSM base station through the circuit, and the GSM base station is connected to the mobile phone through the wireless signal The terminal, the Zigbee wireless module at the downhole section, the Zigbee wireless module at the lower part of the midwell section, the Zigbee wireless module at the upper part of the midwell section, and the Zigbee wireless module on the wellbore are connected to the Zigbee wireless module on the PC side through wireless signals, and the Zigbee wireless module on the PC side is installed on the PC. The PC is connected to the server through the signal line, and the server is connected to the external internet network through the firewall.

进一步，所述红外传感器包括温度传感器、湿度传感器、气敏传感器、称重传感器。Further, the infrared sensor includes a temperature sensor, a humidity sensor, a gas sensor, and a load cell.

进一步，所述井中段下部分的激光对管传感器为5个，所述井中段上部分的激光对管传感器为6个。Further, the number of laser-to-tube sensors in the lower part of the midwell section is five, and the number of laser-to-tube sensors in the upper part of the midwell section is six.

本发明的有益效果是斜井运输作业的综合监控与安全管理，使得矿山斜井防止跑车事故发生，系统安全性高。The beneficial effect of the invention is that the comprehensive monitoring and safety management of the inclined shaft transportation operation can prevent sports car accidents in the inclined shaft of the mine, and the system has high safety.

附图说明Description of drawings

图1是本发明智慧斜井结构示意图；Fig. 1 is a schematic diagram of the structure of the smart inclined shaft of the present invention;

图2是本发明系统网络拓扑结构示意图；Fig. 2 is a schematic diagram of the network topology structure of the system of the present invention;

图3是本发明人员下井处理流程图；Fig. 3 is the flow chart of the inventor's downhole processing;

图4是本发明矿车下井处理流程图；Fig. 4 is a flow chart of the mine car going into the well of the present invention;

图5是本发明人员上井处理流程图；Fig. 5 is the flow chart of the inventor's going to the well;

图6是本发明矿车上井处理流程图；Fig. 6 is a flow chart of the mine car going into the well of the present invention;

图7是本发明下井跑车检测流程；Fig. 7 is the detection process of the running car in the well of the present invention;

图8是上井跑车检测流程图。Fig. 8 is a flow chart of the detection of UAI sports car.

图中，1.斜井矿车轨道，2.井下人行入口门，3.井下车行入口门，4.井上人行入口门，5.井上车行入口门，6.载重地磅，7.安全门，8.卷扬机，9.绳索，10.矿车，11.红外传感器，12.激光对管传感器，13.RFID读卡器，14.Zigbee无线模块，15.蜂鸣器，16.LCD显示模块，17.触摸屏模块，18.井上智能网关，19.GSM基站，20.手机终端，21.PC机，22.服务器，23.防火墙，24.internet网络。In the figure, 1. Inclined shaft mine car track, 2. Underground pedestrian entrance door, 3. Underground vehicle entrance door, 4. Upwell pedestrian entrance door, 5. Well above well vehicle entrance door, 6. Loading scale, 7. Safety door, 8. Winch, 9. Rope, 10. Mine car, 11. Infrared sensor, 12. Laser tube sensor, 13. RFID card reader, 14. Zigbee wireless module, 15. Buzzer, 16. LCD display module, 17. Touch screen module, 18. Inoue intelligent gateway, 19. GSM base station, 20. Mobile terminal, 21. PC, 22. Server, 23. Firewall, 24. Internet network.

系统设计方案System Design

下面结合附图和具体实施方式对本发明进行详细说明。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

本发明一种智慧矿山斜井系统矿井结构如图1所示，包括斜井矿车轨道1，斜井矿车轨道1的井下入口处设有井下人行入口门2和井下车行入口门3，斜井矿车轨道1的井上入口处设有井上人行入口门4和井上车行入口门5，井下车行入口门3外设有载重地磅6，在斜井矿车轨道1内的井下车行入口门3和井上车行入口门5之间设有两个安全门7，井上车行入口门5外设有卷扬机8，卷扬机8通过绳索9牵拉矿车10在斜井矿车轨道1内运行，在斜井矿车轨道1的井下人行入口门2外设有红外传感器11，在斜井矿车轨道1内设有若干激光对管传感器12。A mine structure of the inclined shaft system of a smart mine according to the present invention is shown in Figure 1, comprising an inclined shaft mine car track 1, and the underground entrance of the inclined shaft mine car track 1 is provided with an underground pedestrian entrance door 2 and an underground vehicle entrance door 3, The entrance of the inclined mine car track 1 is provided with the pedestrian entrance door 4 on the well and the vehicle entrance door 5 on the well. There are two safety doors 7 between the entrance door 3 and the entrance door 5 of the well vehicle store, and a hoist 8 is arranged outside the entrance door 5 of the well store, and the hoist 8 pulls the mine car 10 through the rope 9 to run in the mine car track 1 of the inclined shaft , be provided with infrared sensor 11 outside the underground pedestrian entrance door 2 of inclined shaft mine car track 1, be provided with several laser pair tube sensors 12 in inclined shaft mine car track 1.

如图2所示的网络拓扑图，井下人行入口门2、井下车行入口门3，井上人行入口门4、井上车行入口门5和安全门7上均设有RFID读卡器13，井下人行入口门2、井下人行入口门2外的红外传感器11、和井下人行入口门2上的RFID读卡器13通过电路连接井下段的Zigbee无线模块14，井下车行入口门3、井下车行入口门3旁的安全门7和井中段下部分的激光对管传感器12通过电路连接井中段下部的Zigbee无线模块14，井上车行入口门5、井上车行入口门5旁的安全门7和井中段上部分的激光对管传感器12通过电路连接井中段上部的Zigbee无线模块14，井上人行入口门4、井上人行入口门4上的RFID读卡器13、卷扬机8、井上的Zigbee无线模块14，蜂鸣器15、LCD显示模块16、触摸屏模块17分别通过电路连接井上智能网关18，井上智能网关18通过电路连接GSM基站19，GSM基站通过无线信号连接手机终端20，井下段的Zigbee无线模块14、井中段下部的Zigbee无线模块14、井中段上部的Zigbee无线模块14和井上的Zigbee无线模块14通过无线信号连接PC端的Zigbee无线模块14，PC端的Zigbee无线模块14安装在PC机21上，PC机21通过信号线连接服务器22，服务器22通过防火墙23连接外部的internet网络24。红外传感器11包括温度传感器、湿度传感器、气敏传感器、称重传感器。井中段下部分的激光对管传感器12为5个，所述井中段上部分的激光对管传感器12为6个。As shown in the network topology diagram in Figure 2, the underground pedestrian entrance door 2, the underground vehicle entrance door 3, the underground pedestrian entrance door 4, the well upper vehicle entrance door 5 and the safety door 7 are all provided with RFID card readers 13, and the underground pedestrian The infrared sensor 11 outside the entrance door 2, the underground pedestrian entrance door 2, and the RFID card reader 13 on the underground pedestrian entrance door 2 are connected to the Zigbee wireless module 14 of the underground section through a circuit, and the underground vehicle entrance door 3, the underground vehicle entrance The safety door 7 next to the door 3 and the laser pair sensor 12 at the lower part of the middle section of the well are connected to the Zigbee wireless module 14 at the lower part of the middle section of the well through a circuit, the entrance door 5 of the vehicle dealership on the well, the safety door 7 next to the entrance door 5 of the vehicle dealership on the well and the upper part of the middle section of the well. Part of the laser-to-pipe sensor 12 is connected to the Zigbee wireless module 14 on the upper part of the middle section of the well, the pedestrian entrance door 4 on the well, the RFID card reader 13 on the pedestrian entrance door 4 on the well, the hoist 8, the Zigbee wireless module 14 on the well, and the buzzer Device 15, LCD display module 16, touch screen module 17 are respectively connected to intelligent gateway 18 on the well by circuit, intelligent gateway 18 on the well is connected to GSM base station 19 by circuit, GSM base station is connected to mobile phone terminal 20 by wireless signal, the Zigbee wireless module 14 of downhole section, well The Zigbee wireless module 14 at the bottom of the middle section, the Zigbee wireless module 14 at the top of the middle section of the well and the Zigbee wireless module 14 on the well are connected to the Zigbee wireless module 14 at the PC end through wireless signals, and the Zigbee wireless module 14 at the PC end is installed on the PC 21, and the PC 21 The server 22 is connected through a signal line, and the server 22 is connected to an external internet network 24 through a firewall 23 . The infrared sensor 11 includes a temperature sensor, a humidity sensor, a gas sensor, and a load cell. There are 5 laser-to-tube sensors 12 in the lower part of the midhole section, and 6 laser-to-tube sensors 12 in the upper part of the midhole section.

井下使用绳索9连接矿车10，井上使用卷扬机8拉拽绳索9，从而实现矿车10的升井操作。入口门上设有RFID读卡器13，通过RFID射频卡进行门控，整个斜井设立了两个安全门7，安全门7平时开启，当出现跑车事故时紧急关闭。整个斜井设立了11对激光对管传感器12，用于检测矿车10的运行状况；井下车行入口门3外设有载重地磅6，用于判断矿车是否超载。A rope 9 is used to connect the mine car 10 underground, and a hoist 8 is used to pull the rope 9 in the mine, so as to realize the operation of the mine car 10 in the shaft. Entrance door is provided with RFID card reader 13, carries out door control by RFID radio frequency card, and whole inclined shaft has set up two safety doors 7, and safety door 7 is opened at ordinary times, shuts down urgently when sports car accident occurs. 11 pairs of laser tube sensors 12 are set up in the whole inclined shaft, which are used to detect the operating condition of the mine car 10; the underground car store entrance door 3 is provided with a load weighbridge 6, which is used to judge whether the mine car is overloaded.

本发明的智慧矿井各部功能如下：The functions of each part of the intelligent mine of the present invention are as follows:

(1)井下环境监测：智慧斜井能实时采集所处位置的温湿度、危险气体浓度、矿车10在斜井矿车轨道1中的运行状态及位置等，使用无线方式传送到LCD显示模块16及PC机21，在LCD端上使用数字和图形两种方式实时显示；(1) Underground environmental monitoring: the smart inclined shaft can collect the temperature and humidity, the concentration of dangerous gases, the running status and position of the mine car 10 in the inclined shaft mine car track 1 in real time, and transmit them to the LCD display module in a wireless manner 16 and PC 21, real-time display on the LCD side using numbers and graphics;

(2)矿车跑车监控：智慧斜井井壁配有激光对管传感器模块12，能够实时监控矿车10上下斜井的状况，系统采用常闭式工作方式，斜井中的安全阻挡门即安全门7常闭，仅当矿车10经过才开启，若矿车10在运作过程中发生跑车，系统不开启安全阻挡门，防止矿车10跑车造成的任何人员的伤害及财产损失；同时使用无线方式进行数据通信，使得井上井下第一时间得知跑车情况，得以无线报警及尽快处理意外；即系统能够安全监测斜井井下作业环境及防斜井跑车的安全监控功能。(2) Mining car sports car monitoring: The wall of the smart inclined shaft is equipped with a laser tube sensor module 12, which can monitor the status of the mining car 10 up and down the inclined shaft in real time. The system adopts a normally closed working mode, and the safety blocking door in the inclined shaft is the safety door 7 Normally closed, it is only opened when the mine car 10 passes by. If the mine car 10 runs a sports car during operation, the system will not open the safety blocking door to prevent any personal injury and property loss caused by the mine car 10 sports car; at the same time, use the wireless method Through data communication, the upper and lower wells can know the situation of the sports car at the first time, and can wirelessly alarm and deal with accidents as soon as possible; that is, the system can safely monitor the working environment of the inclined shaft underground and the safety monitoring function of the anti-deviation sports car.

(3)门禁系统RFID考勤：智慧斜井系统通过RFID技术，RFID读卡器13对进入井下人员的RFID卡进行识别记录，实现井下工作人员出入井的管理；(3) RFID time attendance of the access control system: the smart inclined shaft system uses RFID technology, and the RFID card reader 13 identifies and records the RFID cards of the personnel entering the underground, so as to realize the management of the underground staff entering and exiting the well;

(4)斜井通行控制：同时门禁系统通过控制井下人员与矿车10的不同时使用斜井通道，即实现了当矿车10在斜井上下期间拒绝任何人员进出斜井通道；(4) Inclined shaft access control: At the same time, the access control system uses the inclined shaft passage by controlling the difference between the underground personnel and the mine car 10, which means that when the mine car 10 is going up and down the inclined shaft, it is possible to deny any personnel from entering or leaving the inclined shaft passage;

(5)矿车10超载监控：门禁系统还具有对矿车10超载检测的监控功能，通过载重地磅6，门禁能够禁止过载矿车通行斜井通道进一步保障了斜井的安全有序工作。即系统能够实现人车的出入监控管理。(5) Overload monitoring of mining vehicles 10: the access control system also has a monitoring function for detecting overloading of mining vehicles 10. Through the load scale 6, the access control can prohibit overloaded mining vehicles from passing through the inclined shaft passage to further ensure the safe and orderly work of the inclined shaft. That is, the system can realize the monitoring and management of the entry and exit of people and vehicles.

下面列举一种本发明硬件方式：Enumerate a kind of hardware mode of the present invention below:

(1)其中主控的嵌入式处理器为韩国三星公司的S3C2440芯片井上网关通过串口与RFID读卡器、GSM/GPRS通信模块以及Zigbee模块相连。井上智能网关18连接有LCD显示模块16的显示屏及触摸屏模块17，以便显示信息和接收用户输入命令。如果需要连接较大的显示屏，井上智能网关18还能通过连接LCD转VGA模块，连接带有VGA接口的显示屏。井上智能网关18通过光电隔离管连接继电器，然后继电器再连接接触器，最后连接用于拉拽矿车10的卷扬机8。此外，井上智能网关18也控制了井上人行入口门4的电磁锁，其电路上由S3C2440通过I/O口控制继电器的通断，来控制电磁锁的开关。井上网关所用设备选型如表1所示。(1) The main embedded processor is the S3C2440 chip of South Korea's Samsung Company. The Inoue gateway is connected to the RFID card reader, GSM/GPRS communication module and Zigbee module through the serial port. The intelligent gateway 18 on the well is connected with the display screen of the LCD display module 16 and the touch screen module 17, so as to display information and receive user input commands. If a larger display screen needs to be connected, the Inoue Smart Gateway 18 can also be connected to a display screen with a VGA interface by connecting an LCD to VGA module. The intelligent gateway 18 on the well is connected to the relay through the photoelectric isolation tube, and then the relay is connected to the contactor, and finally connected to the hoist 8 for pulling the mine car 10 . In addition, the Inoue intelligent gateway 18 also controls the electromagnetic lock of the Inoue pedestrian entrance door 4, and the S3C2440 on the circuit controls the on-off of the relay through the I/O port to control the switch of the electromagnetic lock. Table 1 shows the equipment selection for Inoue Gateway.

表1井上网关主要模块选型表Table 1 Selection table of main modules of Inoue Gateway

(2)PC端通信模块：PC机21主要功能是数据库管理、维护，提供本机及远程的数据访问和控制操作。通信模块采用了基于CC2530的Zigbee通信模块即可，也可以使用表1所列出的Zigbee模块。(2) PC terminal communication module: the main function of the PC 21 is database management and maintenance, providing local and remote data access and control operations. The communication module adopts the Zigbee communication module based on CC2530, and the Zigbee module listed in Table 1 can also be used.

(3)井段终端：井段终端采用模块化设计，长度为60米，设有2道安全门，设置11对激光对管传感器12。而在实际应用中，可以根据具体的斜井长度，选取若干个井段终端，组成所需的系统。井段终端主要的功能是检测激光对光信号，感知矿车10运行的位置，控制安全门7的开启与关闭。该模块使用美国德州仪器公司生产的Zigbee芯片CC2530作为主控芯片，完成控制、处理和无线通信功能。激光对管传感器采用中断的方式接入CC2530。CC2530通过PC817的光电隔离管，控制继电器，而继电器连接到接触器，接触器最后连接到控制安全门7开关的电机。此外，为了防止电机在开启安全门7时，不能在完成开启后及时停止动作，使用了激光对管传感器12来作为限位器。(3) Well section terminal: The well section terminal adopts a modular design, with a length of 60 meters, 2 safety doors, and 11 pairs of laser-to-pipe sensors 12 . However, in practical applications, several well section terminals can be selected according to the specific length of the deviated well to form the required system. The main function of the well section terminal is to detect the laser light-to-light signal, perceive the running position of the mine car 10, and control the opening and closing of the safety door 7. This module uses the Zigbee chip CC2530 produced by Texas Instruments as the main control chip to complete the control, processing and wireless communication functions. The laser-to-tube sensor is connected to CC2530 in an interrupted manner. CC2530 controls the relay through the photoelectric isolation tube of PC817, and the relay is connected to the contactor, and the contactor is finally connected to the motor that controls the switch of the safety door 7. In addition, in order to prevent the motor from being unable to stop in time after opening the safety door 7, a laser-to-tube sensor 12 is used as a limiter.

(4)井下终端：井下终端主要完成井下人行入口门2的控制，采集井下温度、湿度、气体浓度、矿车10载重量等数据。井下终端的主控芯片为美国德州仪器公司生产的Zigbee芯片CC2530。CC2530上连接有温度传感器DS18B20、湿度传感器DHT11、气敏传感器MQ-2，通过串口连接了13.56MHz的RFID读卡器。井下终端还通过光电隔离管Q817控制继电器的工作状态，进而控制人行门的电磁锁的工作。为了能够获取矿车载重的数据，CC2530通过HX711与四个称重传感器端相连，读取矿车的载重数据。(4) Underground terminal: The underground terminal mainly completes the control of the underground pedestrian entrance door 2, and collects data such as underground temperature, humidity, gas concentration, and the load capacity of the mine car 10 . The main control chip of the downhole terminal is the Zigbee chip CC2530 produced by Texas Instruments. CC2530 is connected with temperature sensor DS18B20, humidity sensor DHT11, gas sensor MQ-2, and a 13.56MHz RFID card reader is connected through the serial port. The underground terminal also controls the working state of the relay through the photoelectric isolation tube Q817, and then controls the work of the electromagnetic lock of the pedestrian door. In order to obtain the load data of the mining vehicle, CC2530 is connected to four load cell terminals through HX711 to read the load data of the mining vehicle.

本发明系统工作流程：The working process of the system of the present invention:

1、上下井分析1. Up and down well analysis

(1)人员下井(1) People go down the well

人员下井的处理流程如图3所示，其具体工作流程如下。The processing flow of personnel going down the well is shown in Figure 3, and its specific work flow is as follows.

①系统使用RFID技术对人员身份进行确认；井上网关会根据斜井通道是否有矿车在通行，而决定是否开启井上人行门，实现人车分行；①The system uses RFID technology to confirm the identity of personnel; the gateway on the well will decide whether to open the pedestrian gate on the well according to whether there are mine cars passing through the inclined shaft passage, so as to realize the branch of people and vehicles;

②如果没有矿车在上下井，则允许通行，此时井上网关会将人员信息开关门及刷卡信息，发送到PC端的数据库中；② If there is no mine car going up and down the mine, it is allowed to pass. At this time, the gateway on the mine will send the information of personnel opening and closing the door and swiping card to the database on the PC side;

③接着控制人行通道的门开启，此时人员就可以开始进入下井的通道了；③ Then control the opening of the door of the pedestrian passage, and at this time, the personnel can start to enter the passage of going down the well;

④当人员到达井下出口时也需要使用RIFD进行确认；④ When the personnel arrive at the underground exit, it is also necessary to use RIFD for confirmation;

⑤此时系统会判别通道是否还有其他人在通行，如果没有人员在人行通道，将更新通道状态记录。⑤ At this time, the system will judge whether there are other people passing through the passage. If no one is in the pedestrian passage, the passage status record will be updated.

(2)矿车下井(2) The mine car goes down the shaft

矿车下井处理流程如图4所示，其工作过程如下：The processing flow of the mine car going down the shaft is shown in Figure 4, and its working process is as follows:

①系统根据斜井状况来确定是否允许矿车进入斜井；①The system determines whether to allow the mine car to enter the inclined shaft according to the condition of the inclined shaft;

②如果斜井状态空闲，则允许通行，此时井上网关将矿车信息下井信息发送到PC端的数据库中；② If the state of the inclined shaft is idle, the passage is allowed. At this time, the gateway on the mine will send the mine car information to the database on the PC side;

③接着井上网关开启矿车通道的井上车行门，此时矿车就可以开始进入下井的通道了，井上网关还将开启卷扬机，将矿车沿着矿车通道放下井去；③ Then the gateway on the well opens the door of the mine car passageway, and the mine car can start to enter the passageway to go down the shaft. The gateway on the well will also open the winch and lower the mine car along the mine car passage into the well;

④在矿车开始下井时，斜井通道的两侧的激光对管能实时监测矿车的行进位置，由井段终端通过ZigBee发送到井上网关，由井上网关进行处理后，在井上下的LCD屏幕实时显示；④When the mine car starts to go down the well, the laser pair tubes on both sides of the inclined shaft channel can monitor the traveling position of the mine car in real time, and the terminal of the well section sends it to the gateway on the mine through ZigBee. After processing by the gateway on the mine, the LCD screen on and off the mine real-time display;

⑤本系统采用常闭式安全门设计，当激光对管传感器检测到矿车靠近了安全门时，将开启安全门，当矿车通过之后，将关闭安全门。如果矿车在下井时发生了跑车，系统将检测到，将不开启任何安全门，并关闭所有门，发出报警信号，停止卷扬机等设备的运行，禁止任何人进入现场，进入等待事故处理模式；⑤The system adopts a normally closed safety door design. When the laser-to-tube sensor detects that the mine car is approaching the safety door, the safety door will be opened, and when the mine car passes, the safety door will be closed. If the mine car runs into a running car while going down the mine, the system will detect it, and will not open any safety doors, close all doors, send an alarm signal, stop the operation of hoist and other equipment, prohibit anyone from entering the site, and enter the waiting for accident processing mode;

⑥当矿车安全到达井下之后，激光对管传感器将检测到其已达到，有井段终端通知井上网关关闭卷扬机，即矿车已经安全到达井下。⑥When the mine car arrives underground safely, the laser-to-pipe sensor will detect that it has arrived, and a terminal in the well section informs the gateway on the well to close the hoist, that is, the mine car has safely arrived underground.

(3)人员上井(3) Personnel go to the well

人员上井的处理流程如图5所示，其工作流程如下：The processing flow of personnel going to the well is shown in Figure 5, and its work flow is as follows:

①工作人员通过RFID卡进行刷卡，读卡器读取卡中身份信息，根据当前斜井的状态，确定是否开启井下人行门；① The staff swipes the card through the RFID card, and the card reader reads the identity information in the card, and determines whether to open the underground pedestrian door according to the current state of the inclined shaft;

②如果没有矿车在上下井，则允许通行，此时井下终端发送人员信息记录到井上网关和PC端的数据库中；② If there is no mine car going up and down the mine, it is allowed to pass. At this time, the underground terminal sends personnel information and records it to the database on the mine gateway and the PC side;

③接着控制人行通道的门开启，此时人员就可以开始进入上井的通道了；③ Then control the opening of the door of the pedestrian passage, and at this time, personnel can start to enter the passage of the upper well;

④当工作人员到达井上出口时，也需要使用RIFD进行确认，井上网关会判断斜井中是否有人员，从而确定是否要更新斜井运行状态；④ When the staff arrives at the exit of the well, they also need to use RIFD to confirm. The gateway on the well will judge whether there are people in the inclined well, so as to determine whether to update the operation status of the inclined well;

⑤如果斜井中已经没有人员，则修改斜井运行状态为空闲，允许新的人员通行或允许矿车通行；⑤ If there are no people in the inclined shaft, modify the operating state of the inclined shaft to be idle, allowing new personnel to pass or mine cars to pass;

(4)矿车上井(4) Mine cart goes up the well

矿车下井处理流程如图6所示，其处理流程如下：The processing flow of the mine car going down the shaft is shown in Figure 6, and the processing flow is as follows:

①当斜井状态为空闲时，且矿车载重未超载，则允许矿车进入斜井；① When the state of the inclined shaft is idle, and the load of the mine car is not overloaded, the mine car is allowed to enter the inclined shaft;

②如果上述条件满足，则开启井下车行门，同时井下终端会将矿车载重量以及矿车进入斜井的时间等信息通过Zigbee模块发送给井上网关，网关将启动卷扬机，拉动矿车进入斜井运行。②If the above conditions are met, open the underground vehicle door, and at the same time, the underground terminal will send the information such as the weight of the mine vehicle and the time when the mine vehicle enters the inclined shaft to the underground gateway through the Zigbee module, and the gateway will start the hoist and pull the mine vehicle into the inclined shaft run.

③矿车进入斜井之后，由激光对管传感器检测其运行位置，并由井段终端发往井上网关及PC端。③ After the mine car enters the inclined shaft, its running position is detected by the laser-to-pipe sensor, and is sent from the well section terminal to the mine gateway and PC terminal.

④井上网关将根据激光对管传感器检测到的矿车运行轨迹，判断其是否发生跑车，如果未发生跑车，且矿车运行到了安全门位置，将开启安全门，让矿车通过，之后再关闭安全门，直到矿车安全达到井上。④The gateway on the well will judge whether a sports car has occurred based on the trajectory of the mine car detected by the laser-to-tube sensor. If there is no sports car and the mine car has run to the position of the safety door, it will open the safety door to let the mine car pass, and then close the safety door. Until the mine car reaches the well safely.

⑤如果井上网关判断发生了跑车事故，则发送跑车警报，马上关闭所有门，并关闭卷扬机等，禁止任何人进入现场，进入等待事故处理模式。⑤If the Inoue gateway judges that a sports car accident has occurred, it will send a sports car alarm, close all doors immediately, and turn off the winch, etc., prohibiting anyone from entering the scene, and enter the waiting for accident processing mode.

2、跑车检测流程2. Sports car inspection process

本发明的核心算法就是判断是否发生跑车事故的算法，分为针对矿车下井跑车检测和矿车上井跑车检测两个部分。The core algorithm of the present invention is an algorithm for judging whether a sports car accident occurs, which is divided into two parts: the detection of a sports car going down a mine car and the detection of a sports car going up a mine car.

(1)下井跑车检测(1) Downhole sports car detection

当矿车下井时，采用基于预计到达时间的检测算法，即当矿车进入斜井，并被第一个激光对管传感器检测到了之后，由于卷扬机下放矿车的速度是匀速的，因此，可以根据下面的公式，计算出其预计到达后续每一个激光对管传感器的时间，由井上网关负责保存这些预计到达时间。When the mine car goes down the shaft, the detection algorithm based on the estimated arrival time is adopted, that is, when the mine car enters the inclined shaft and is detected by the first laser sensor on the tube, since the speed of the hoist lowering the mine car is uniform, it can be According to the following formula, the expected arrival time of each subsequent laser-to-tube sensor is calculated, and the Inoue Gateway is responsible for saving these estimated arrival times.

tt ii == tt 00 ++ ii ×× ll 22 ×× ππ ×× rr ×× nno ,,

其中，t_i为矿车到达编号为i激光对管传感器时的预计到达时间(i＝1,2,3,…)；t₀为矿车经过第一个激光对管传感器的时刻；l为两个激光对管传感器的距离；r为卷扬机电机的半径；n为卷扬机电机的转速。Among them, t _i is the expected arrival time when the mine car arrives at the laser-to-tube sensor numbered i (i=1,2,3,...); t ₀ is the moment when the mine car passes through the first laser-to-tube sensor; l is The distance between the two laser-to-tube sensors; r is the radius of the winch motor; n is the speed of the winch motor.

然后，当矿车真实到达了每一个激光对管传感器时，井上网关将记录其实际到达的时间，并与预计到达的时间进行比较，如果没有超出预设的误差范围，则认为没有发送跑车事故，否则，则认为发生跑车事故，进入跑车处理模式。具体的工作流程，如图7所示。Then, when the mine car actually arrives at each laser pair sensor, the Inoue Gateway will record its actual arrival time and compare it with the estimated arrival time. If it does not exceed the preset error range, it is considered that there is no sports car accident , otherwise, it is considered that a sports car accident occurs, and enters the sports car processing mode. The specific workflow is shown in Figure 7.

(2)上井跑车检测(2) Shangjing sports car detection

当矿车上井时，采用基于运行轨迹的检测算法，具体工作流程见图8所示，这一算法的基本思想如下：When the mine car goes into the well, the detection algorithm based on the running track is adopted. The specific workflow is shown in Figure 8. The basic idea of this algorithm is as follows:

假设激光对管的编号采用自井上到井下的编号方式，即从井上往下第一激光对管编号为0，往下一个编号为1，再往下一个编号为2，最后一个编号为n，即激光对管的编号为：0,1,2,…,n。Assume that the numbering of laser tubes adopts the numbering method from the top to the bottom of the well, that is, the first laser tube number from the top down is 0, the next number is 1, the next number is 2, and the last number is n. That is, the number of laser tubes is: 0,1,2,...,n.

当矿车上井时，正常状态下，在卷扬机的牵引下，应当先到达编号为n的激光对管，然后到达编号为n-1的激光对管，最后到达编号为0的激光对管，也就是说矿车上井的运行轨迹应该是沿着激光对管编号递减的方向运行的。如果在某个时刻，检测到矿车的运行轨迹不是按照该规律，而是出现矿车所到达的激光对管编号比前一个到达的激光对管编号更大，则说明出现了跑车，进入故障处理流程。When the mine car goes up the shaft, under the normal state, under the traction of the hoist, it should first reach the laser pair tube numbered n, then reach the laser pair tube numbered n-1, and finally reach the laser pair tube numbered 0, also That is to say, the running trajectory of the mine car going up the well should run along the direction in which the number of the laser tubes decreases. If at a certain moment, it is detected that the running track of the mine car does not follow this rule, but the number of the laser pair that the mine car arrives at is greater than the number of the laser pair that arrived at the previous one, it means that there is a sports car and it enters a fault processing flow.

(3)跑车处理模式(3) Sports car handling mode

当发生跑车事故后，系统将锁死所有人行门、车行门和安全门，禁止任何人员进入，发出报警信号，通过短信的形式向单位负责人发送事故报警信息，在PC机上运行的客户端软件上，弹出跑车事故处理窗口，要求输入正确的密码，然后进入到事故处理界面。When a sports car accident occurs, the system will lock all pedestrian doors, vehicle doors and safety doors, prohibit anyone from entering, send an alarm signal, and send accident alarm information to the person in charge of the unit through SMS. The client software running on the PC , the sports car accident handling window pops up, requiring you to enter the correct password, and then enters the accident handling interface.

在事故处理界面上，可以手动开启发生事故的安全门之上的其他车行门、人行门和安全门，以便进行事故处理。当确认事故处理完成了，且在再次数据正确的密码之后，才允许开启发生事故的安全门之下的其他门。On the accident handling interface, other vehicle doors, pedestrian doors and safety doors above the safety door where the accident occurred can be manually opened for accident handling. When it is confirmed that the accident handling is completed, and after the correct password is entered again, it is allowed to open other doors under the safety door where the accident occurred.

PC机端的数据库将记录下，整个事故发生的信息，包括事故发生的时间、位置、处理完成时间、造成的影响等。The database at the PC terminal will record the information of the entire accident, including the time, location, processing completion time, and impact of the accident.

3、数据访问流程3. Data access process

本系统的可以通过三种方式进行数据访问，即本地终端数据访问、远程互联网数据访问以及移动通信网络数据访问等。它们的访问流程具体如下。The system can access data in three ways, that is, local terminal data access, remote Internet data access, and mobile communication network data access. Their access procedures are as follows.

(1)本地终端数据访问(1) Local terminal data access

工作人员通过设在现场控制室的计算机终端，通过身份认证之后，使用客户端登录服务器，获取人员考勤信息、斜井工作状况、井下环境数据等信息，可以按年度、季度、月份、周、日等获取出矿量数据等信息。还可以处理跑车事故、设备控制等实时操作。Through the computer terminal located in the on-site control room, after passing the identity authentication, the staff uses the client to log in to the server to obtain information such as personnel attendance information, working conditions of inclined wells, underground environmental data, etc. And so on to obtain the output data and other information. It can also handle real-time operations such as sports car accidents and equipment control.

(2)远程互联网数据访问(2) Remote Internet data access

工作人员可以使用互联网连接到斜井服务器，通过远程登录到服务器，获取上述信息或对现场设备进行控制。工作人员可以使用浏览器，也可以使用智能手机等登录斜井服务器，完成数据访问操作。The staff can use the Internet to connect to the inclined shaft server, log in to the server remotely, obtain the above information or control the field equipment. The staff can use a browser or a smart phone to log in to the inclined shaft server to complete data access operations.

(3)移动通信网络数据访问(3) Mobile communication network data access

如果发生了跑车事故，智慧斜井系统会第一时间将事故情况通过短信的方式，发送到单位负责人手机上，以便及时快速地做出事故后续处理。此外，单位负责人还可以通过向智慧斜井系统发送查询短信或使用专用APP软件，查询考勤信息、出矿量等数据。If a sports car accident occurs, the smart inclined shaft system will send the accident situation to the mobile phone of the person in charge of the unit through SMS in the first time, so as to make follow-up processing of the accident in a timely and rapid manner. In addition, the person in charge of the unit can also query attendance information, ore output and other data by sending query text messages to the smart inclined shaft system or using special APP software.

本发明运用“智慧斜井”综合系统，运用了多种传感器、及控制器，以及运用网关等信号传输设备与PC机互联，实现了斜井运输作业的综合监控与安全管理，使得矿山斜井防止跑车事故及斜井生产作业监控得到了轻松的解决，希望本项目能给在矿山工作事业的发展带来促进。The present invention utilizes the "smart inclined shaft" integrated system, various sensors, controllers, and signal transmission equipment such as gateways to interconnect with PCs, thereby realizing comprehensive monitoring and safety management of inclined shaft transportation operations, making mine inclined shafts The prevention of sports car accidents and the monitoring of inclined shaft production operations have been easily solved. It is hoped that this project can promote the development of mine work.

以上所述仅是对本发明的较佳实施方式而已，并非对本发明作任何形式上的限制，凡是依据本发明的技术实质对以上实施方式所做的任何简单修改，等同变化与修饰，均属于本发明技术方案的范围内。The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Any simple modifications made to the above embodiments according to the technical essence of the present invention, equivalent changes and modifications, all belong to this invention. within the scope of the technical solution of the invention.